Lagrange equations derived from

DAlemberts principle [mln8]

k
3N
" N
#
X X ri
DAlemberts equation: (miri Fi ) qj = 0
j=1 i=1
qj

N
X ri
Fi (rj , r j , t) Fi = Qj , j = 1, . . . , 3N k.
i=1
qj
N
. X ri
Qj (q1 , . . . , q3N k , q1 , . . . , q3N k , t) = Fi .
i=1
qj
N N    
X ri X d ri r i
miri = mi r i mi r i .
i=1
qj i=1
dt q j q j

3N k
dri X ri ri ri r i
= ql + = r i (qj , qj , t) = .
dt l=1
ql t qj qj
N
" N
!# N
!
X ri d X 1 X 1
miri = mi r 2i mi r 2i .
i=1
q j dt q
j i=1
2 q j i=1
2
N
X 1
Kinetic energy: T (qj , qj , t) = mi r 2i .
i=1
2
3N k  
X d T T
Qj qj = 0 with independent qj .
j=1
dt qj qj

d T T
Qj = 0, j = 1, . . . , 3N k.
dt qj qj
Assumption: Fi = i V , V (r1 , . . . , rN , t) = V (q1 , . . . , q3N k , t).
V V
Qj = Qj (q1 , . . . , q3N k , t) = , = 0.
qj qj
.
Lagrangian: L(qj , qj , t) = T (qj , qj , t) V (qj , t).
d L L
Lagrange equations: = 0, j = 1, . . . , 3N k.
dt qj qj
. L
Generalized momenta: pj = , j = 1, . . . , 3N k.
qj